The evolution of wireless communication systems towards millimeter-wave ($30-100$ GHz) and sub-THz ($>100$ GHz) frequency bands highlighted the need for accurate and fast beam management and a proactive link-blockage prediction in high-mobility scenarios. Joint Communication and Sensing (JC\&S) systems aim at equipping communication terminals with sensing capabilities using the same time/frequency/space communication resources to solve, or alleviate, the aforementioned issues. For an efficient implementation, a suitable waveform design that combines communication and sensing capabilities is of utmost importance. This paper proposes a novel dual-domain waveform design approach that superimposes onto the Frequency-Time (FT) domain both the legacy orthogonal frequency division multiplexing modulation scheme and a sensing signal, purposely designed in the Delay-Doppler (DD) domain. The power of the two signals is properly allocated in FT and DD domains, respectively, to reduce their mutual interference and optimize both communication and sensing tasks. Numerical results show the effectiveness of the proposed JC\&S waveform design approach, yielding target communication and sensing performance with a full time-frequency resource sharing.